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- # Generated by PNCconf at Sun Sep 20 22:34:44 2020
- # If you make changes to this file, they will be
- # overwritten when you run PNCconf again
- loadrt trivkins
- loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
- loadrt hostmot2
- loadrt hm2_pci config=" num_encoders=1 num_pwmgens=0 num_stepgens=5 sserial_port_0=20xxxx"
- setp hm2_5i25.0.watchdog.timeout_ns 5000000
- loadrt pid names=pid.x,pid.y,pid.z,pid.s
- loadrt estop_latch
- loadrt or2 count=1
- addf estop-latch.0 servo-thread
- addf or2.0 servo-thread
- addf hm2_5i25.0.read servo-thread
- addf motion-command-handler servo-thread
- addf motion-controller servo-thread
- addf pid.x.do-pid-calcs servo-thread
- addf pid.y.do-pid-calcs servo-thread
- addf pid.z.do-pid-calcs servo-thread
- addf pid.s.do-pid-calcs servo-thread
- addf hm2_5i25.0.write servo-thread
- # Add the two external e-stop hard buttons into the control
- net estop-loopout iocontrol.0.emc-enable-in <= estop-latch.0.ok-out
- net estop-loopin iocontrol.0.user-enable-out => estop-latch.0.ok-in
- net estop-reset iocontrol.0.user-request-enable => estop-latch.0.reset
- net estop-button1 or2.0.in0 <= hm2_5i25.0.7i76.0.0.input-08-not
- net estop-button2 or2.0.in1 <= hm2_5i25.0.7i76.0.0.input-07-not
- net remote-estop estop-latch.0.fault-in <= or2.0.out
- loadrt mux8 count=2
- addf mux8.0 servo-thread
- # external output signals
- # external input signals
- #*******************
- # AXIS X
- #*******************
- setp pid.x.Pgain [AXIS_0]P
- setp pid.x.Igain [AXIS_0]I
- setp pid.x.Dgain [AXIS_0]D
- setp pid.x.bias [AXIS_0]BIAS
- setp pid.x.FF0 [AXIS_0]FF0
- setp pid.x.FF1 [AXIS_0]FF1
- setp pid.x.FF2 [AXIS_0]FF2
- setp pid.x.deadband [AXIS_0]DEADBAND
- setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
- setp pid.x.error-previous-target true
- setp pid.x.maxerror .0005
- net x-index-enable <=> pid.x.index-enable
- net x-enable => pid.x.enable
- net x-pos-cmd => pid.x.command
- net x-vel-cmd => pid.x.command-deriv
- net x-pos-fb => pid.x.feedback
- net x-output => pid.x.output
- # Step Gen signals/setup
- setp hm2_5i25.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP
- setp hm2_5i25.0.stepgen.00.dirhold [AXIS_0]DIRHOLD
- setp hm2_5i25.0.stepgen.00.steplen [AXIS_0]STEPLEN
- setp hm2_5i25.0.stepgen.00.stepspace [AXIS_0]STEPSPACE
- setp hm2_5i25.0.stepgen.00.position-scale [AXIS_0]STEP_SCALE
- setp hm2_5i25.0.stepgen.00.step_type 0
- setp hm2_5i25.0.stepgen.00.control-type 1
- setp hm2_5i25.0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAXACCEL
- setp hm2_5i25.0.stepgen.00.maxvel [AXIS_0]STEPGEN_MAXVEL
- # ---closedloop stepper signals---
- net x-pos-cmd <= axis.0.motor-pos-cmd
- net x-vel-cmd <= axis.0.joint-vel-cmd
- net x-output => hm2_5i25.0.stepgen.00.velocity-cmd
- net x-pos-fb <= hm2_5i25.0.stepgen.00.position-fb
- net x-pos-fb => axis.0.motor-pos-fb
- net x-enable <= axis.0.amp-enable-out
- net x-enable => hm2_5i25.0.stepgen.00.enable
- # ---setup home / limit switch signals---
- net both-x <= hm2_5i25.0.7i76.0.0.input-23-not
- net both-x => axis.0.neg-lim-sw-in
- net both-x => axis.0.pos-lim-sw-in
- #*******************
- # AXIS Y
- #*******************
- setp pid.y.Pgain [AXIS_1]P
- setp pid.y.Igain [AXIS_1]I
- setp pid.y.Dgain [AXIS_1]D
- setp pid.y.bias [AXIS_1]BIAS
- setp pid.y.FF0 [AXIS_1]FF0
- setp pid.y.FF1 [AXIS_1]FF1
- setp pid.y.FF2 [AXIS_1]FF2
- setp pid.y.deadband [AXIS_1]DEADBAND
- setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
- setp pid.y.error-previous-target true
- setp pid.y.maxerror .0005
- net y-index-enable <=> pid.y.index-enable
- net y-enable => pid.y.enable
- net y-pos-cmd => pid.y.command
- net y-vel-cmd => pid.y.command-deriv
- net y-pos-fb => pid.y.feedback
- net y-output => pid.y.output
- # Step Gen signals/setup
- setp hm2_5i25.0.stepgen.01.dirsetup [AXIS_1]DIRSETUP
- setp hm2_5i25.0.stepgen.01.dirhold [AXIS_1]DIRHOLD
- setp hm2_5i25.0.stepgen.01.steplen [AXIS_1]STEPLEN
- setp hm2_5i25.0.stepgen.01.stepspace [AXIS_1]STEPSPACE
- setp hm2_5i25.0.stepgen.01.position-scale [AXIS_1]STEP_SCALE
- setp hm2_5i25.0.stepgen.01.step_type 0
- setp hm2_5i25.0.stepgen.01.control-type 1
- setp hm2_5i25.0.stepgen.01.maxaccel [AXIS_1]STEPGEN_MAXACCEL
- setp hm2_5i25.0.stepgen.01.maxvel [AXIS_1]STEPGEN_MAXVEL
- # ---closedloop stepper signals---
- net y-pos-cmd <= axis.1.motor-pos-cmd
- net y-vel-cmd <= axis.1.joint-vel-cmd
- net y-output => hm2_5i25.0.stepgen.01.velocity-cmd
- net y-pos-fb <= hm2_5i25.0.stepgen.01.position-fb
- net y-pos-fb => axis.1.motor-pos-fb
- net y-enable <= axis.1.amp-enable-out
- net y-enable => hm2_5i25.0.stepgen.01.enable
- # ---setup home / limit switch signals--
- net both-y <= hm2_5i25.0.7i76.0.0.input-25-not
- net both-y => axis.1.neg-lim-sw-in
- net both-y => axis.1.pos-lim-sw-in
- net y-home-sw <= hm2_5i25.0.7i76.0.0.input-26-not
- net y-home-sw => axis.1.home-sw-in
- #*******************
- # AXIS Z
- #*******************
- setp pid.z.Pgain [AXIS_2]P
- setp pid.z.Igain [AXIS_2]I
- setp pid.z.Dgain [AXIS_2]D
- setp pid.z.bias [AXIS_2]BIAS
- setp pid.z.FF0 [AXIS_2]FF0
- setp pid.z.FF1 [AXIS_2]FF1
- setp pid.z.FF2 [AXIS_2]FF2
- setp pid.z.deadband [AXIS_2]DEADBAND
- setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
- setp pid.z.error-previous-target true
- setp pid.z.maxerror .0005
- net z-index-enable <=> pid.z.index-enable
- net z-enable => pid.z.enable
- net z-pos-cmd => pid.z.command
- net z-vel-cmd => pid.z.command-deriv
- net z-pos-fb => pid.z.feedback
- net z-output => pid.z.output
- # Step Gen signals/setup
- setp hm2_5i25.0.stepgen.02.dirsetup [AXIS_2]DIRSETUP
- setp hm2_5i25.0.stepgen.02.dirhold [AXIS_2]DIRHOLD
- setp hm2_5i25.0.stepgen.02.steplen [AXIS_2]STEPLEN
- setp hm2_5i25.0.stepgen.02.stepspace [AXIS_2]STEPSPACE
- setp hm2_5i25.0.stepgen.02.position-scale [AXIS_2]STEP_SCALE
- setp hm2_5i25.0.stepgen.02.step_type 0
- setp hm2_5i25.0.stepgen.02.control-type 1
- setp hm2_5i25.0.stepgen.02.maxaccel [AXIS_2]STEPGEN_MAXACCEL
- setp hm2_5i25.0.stepgen.02.maxvel [AXIS_2]STEPGEN_MAXVEL
- # ---closedloop stepper signals---
- net z-pos-cmd <= axis.2.motor-pos-cmd
- net z-vel-cmd <= axis.2.joint-vel-cmd
- net z-output => hm2_5i25.0.stepgen.02.velocity-cmd
- net z-pos-fb <= hm2_5i25.0.stepgen.02.position-fb
- net z-pos-fb => axis.2.motor-pos-fb
- net z-enable <= axis.2.amp-enable-out
- net z-enable => hm2_5i25.0.stepgen.02.enable
- # ---setup home / limit switch signals---
- # --- MIN-Z ---
- net min-z <= hm2_5i25.0.7i76.0.0.input-21-not
- # --- MAX-Z ---
- net max-z <= hm2_5i25.0.7i76.0.0.input-22-not
- # --- HOME-Z ---
- net home-z <= hm2_5i25.0.7i76.0.0.input-20-not
- net home-z => axis.2.home-sw-in
- net min-z => axis.2.neg-lim-sw-in
- net max-z => axis.2.pos-lim-sw-in
- #*******************
- # SPINDLE S
- #*******************
- setp pid.s.Pgain [SPINDLE_9]P
- setp pid.s.Igain [SPINDLE_9]I
- setp pid.s.Dgain [SPINDLE_9]D
- setp pid.s.bias [SPINDLE_9]BIAS
- setp pid.s.FF0 [SPINDLE_9]FF0
- setp pid.s.FF1 [SPINDLE_9]FF1
- setp pid.s.FF2 [SPINDLE_9]FF2
- setp pid.s.deadband [SPINDLE_9]DEADBAND
- net ratio_select.out pid.s.maxoutput
- setp pid.s.error-previous-target true
- net spindle-index-enable <=> pid.s.index-enable
- net spindle-enable => pid.s.enable
- net spindle-vel-cmd-rpm => pid.s.command
- net spindle-vel-fb-rpm => pid.s.feedback
- net spindle-output <= pid.s.output
- # ---digital potentionmeter output signals/setup---
- setp hm2_5i25.0.7i76.0.0.spinout-minlim [SPINDLE_9]OUTPUT_MIN_LIMIT
- setp hm2_5i25.0.7i76.0.0.spinout-maxlim [SPINDLE_9]OUTPUT_MAX_LIMIT
- setp hm2_5i25.0.7i76.0.0.spinout-scalemax [SPINDLE_9]OUTPUT_SCALE
- net spindle-output => hm2_5i25.0.7i76.0.0.spinout
- net spindle-enable => hm2_5i25.0.7i76.0.0.spinena
- net spindle-ccw => hm2_5i25.0.7i76.0.0.spindir
- # ---setup spindle control signals---
- net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
- net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
- net spindle-vel-cmd-rpm <= motion.spindle-speed-out
- net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
- net spindle-enable <= motion.spindle-on
- net spindle-cw <= motion.spindle-forward
- net spindle-ccw <= motion.spindle-reverse
- net spindle-brake <= motion.spindle-brake
- net spindle-revs => motion.spindle-revs
- net spindle-at-speed => motion.spindle-at-speed
- net spindle-vel-fb-rps => motion.spindle-speed-in
- net spindle-index-enable <=> motion.spindle-index-enable
- # ---Setup spindle at speed signals---
- sets spindle-at-speed true
- #******************************
- # connect miscellaneous signals
- #******************************
- # ---HALUI signals---
- net joint-select-a halui.joint.0.select
- net x-is-homed halui.joint.0.is-homed
- net jog-x-pos halui.jog.0.plus
- net jog-x-neg halui.jog.0.minus
- net jog-x-analog halui.jog.0.analog
- net joint-select-b halui.joint.1.select
- net y-is-homed halui.joint.1.is-homed
- net jog-y-pos halui.jog.1.plus
- net jog-y-neg halui.jog.1.minus
- net jog-y-analog halui.jog.1.analog
- net joint-select-c halui.joint.2.select
- net z-is-homed halui.joint.2.is-homed
- net jog-z-pos halui.jog.2.plus
- net jog-z-neg halui.jog.2.minus
- net jog-z-analog halui.jog.2.analog
- net jog-selected-pos halui.jog.selected.plus
- net jog-selected-neg halui.jog.selected.minus
- net spindle-manual-cw halui.spindle.forward
- net spindle-manual-ccw halui.spindle.reverse
- net spindle-manual-stop halui.spindle.stop
- net machine-is-on halui.machine.is-on
- net jog-speed halui.jog-speed
- net MDI-mode halui.mode.is-mdi
- # ---coolant signals---
- net coolant-mist <= iocontrol.0.coolant-mist
- net coolant-flood <= iocontrol.0.coolant-flood
- # ---probe signal---
- net probe-in => motion.probe-input
- # ---jogwheel signals to mesa encoder - shared MPG---
- net joint-selected-count <= hm2_5i25.0.encoder.00.count
- # ---motion control signals---
- net in-position <= motion.in-position
- net machine-is-enabled <= motion.motion-enabled
- # ---digital in / out signals---
- # ---manual tool change signals---
- loadusr -W hal_manualtoolchange
- net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
- net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
- net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
- net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
- # gearbox hi/low <= net both-z <= hm2_5i25.0.7i76.0.0.input-06
- ####################################################################################
- # mpg setup below this line #
- ####################################################################################
- setp axis.0.jog-vel-mode 0
- setp axis.1.jog-vel-mode 0
- setp axis.2.jog-vel-mode 0
- #hm2_5i25.0.7i76.0.0.enc0.count
- setp axis.0.jog-vel-mode 0 # X AXIS
- setp axis.1.jog-vel-mode 0 # Y AXIS
- setp axis.2.jog-vel-mode 0 # Z AXIS
- #setp axis.3.jog-vel-mode 0 # A AXIS
- #setp axis.4.jog-vel-mode 0 # B AXIS
- setp mux8.0.in0 0.0001
- setp mux8.0.in1 0.001
- setp mux8.0.in2 0.01
- setp mux8.0.in3 0.1
- setp mux8.0.in4 0.5
- # The inputs to the mux8 component, default is not required so Input 24 isn?t referenced
- net scale1 mux8.0.sel0 <= hm2_5i25.0.7i76.0.0.input-10
- net scale2 mux8.0.sel1 <= hm2_5i25.0.7i76.0.0.input-09
- net scale3 mux8.0.sel2 <= hm2_5i25.0.7i76.0.0.input-14
- #net scale4 mux8.0.sel3 <= hm2_5i25.0.7i76.0.0.input-13
- #net scale5 mux8.0.sel4 <= hm2_5i25.0.7i76.0.0.input-11
- net mpg-scale <= mux8.0.out
- net mpg-scale => axis.0.jog-scale
- net mpg-scale => axis.1.jog-scale
- net mpg-scale => axis.2.jog-scale
- #net mpg-scale => axis.3.jog-scale
- #net mpg-scale => axis.4.jog-scale
- net axis-select-x <= hm2_5i25.0.7i76.0.0.input-27
- net axis-select-y <= hm2_5i25.0.7i76.0.0.input-05
- net axis-select-z <= hm2_5i25.0.7i76.0.0.input-04
- #net axis-select-a <= hm2_5i25.0.7i76.0.0.input-15
- #net axis-select-b <= hm2_5i25.0.7i76.0.0.input-12
- # MAPPING MPG ENCODER signals to jog counters
- # using one encoder for all axis
- net jog-counter <= hm2_5i25.0.7i76.0.0.enc0.count
- # MAPPING INPUT signals to linux cnc signals / gui
- # Since there is only one encoder it is connected to all axis. Only the one that is selected # actually moves
- net jog-counter => axis.0.jog-counts
- net jog-counter => axis.1.jog-counts
- net jog-counter => axis.2.jog-counts
- #net jog-counter => axis.3.jog-counts
- #net jog-counter => axis.4.jog-counts
- # Send input signal to linux cnc action (enable axis selection)
- net axis-select-x => axis.0.jog-enable
- net axis-select-y => axis.1.jog-enable
- net axis-select-z => axis.2.jog-enable
- #net axis-select-a => axis.3.jog-enable
- #net axis-select-b => axis.4.jog-enable
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